Diff: Serializer.h

Revision:

3:94b650d0861d

Parent:

2:9e0d3f159ec3

--- a/Serializer.h	Mon Dec 13 06:04:02 2010 +0000
+++ b/Serializer.h	Thu Dec 16 09:25:25 2010 +0000
@@ -20,7 +20,7 @@
 #include "mbed.h"
 
 /**
- * Serializer Class to communicate with Robotics 
+ * Serializer Class to communicate with Robotics
  * Connection Serializer(tm) board
  */
 class Serializer {
@@ -29,9 +29,9 @@
     /**
      * Constructor.
      *
-     */     
+     */
     Serializer();
-    
+
     /**
      * Destructor.
      *
@@ -43,33 +43,33 @@
      *
      */
     void    ClearCountLeft();
-    
+
     /**
      * Clears right motor encoder count
      *
-     */ 
+     */
     void    ClearCountRight();
-    
+
     /**
      * Clears motors encoder counts
      *
      */
     void    ClearCount();
-    
+
     /**
      * Sets left motor speed
      * @param inPsec Motor Speed in inches per second
      */
     void    SetSpeedLeft(int inPsec);
-    
+
     /**
      * Sets right motor speed
      * @param inPsec Motor Speed in inches per second
      */
     void    SetSpeedRight(int inPsec);
-    
+
     /**
-     * Sets speed for both motors 
+     * Sets speed for both motors
      * @param inPsec Motor Speed in inches per second
      */
     void    SetSpeed(int inPsec);
@@ -82,7 +82,7 @@
      * @param l
      */
     void    SetVPID(int,int,int,int);
-    
+
     /**
      * Sets DPID
      * @param p
@@ -91,51 +91,52 @@
      * @param a
      */
     void    SetDPID(int,int,int,int);
-    
+
     /**
      * Sets left motor distance and speed
-     * @param inches Distance in inches
+     * @param inches Distance in ticks
      * @param inPsec Motor Speed
      */
     void    DiGoLeft(int inches,int inPsec);
-    
+
     /**
      * Sets right motor distance and speed
-     * @param inches Distance in inches
+     * @param inches Distance in ticks
      * @param inPsec Motor Speed
      */
     void    DiGoRight(int inches,int inPsec);
-    
+
     /**
      * Sets both motors distance and speed
-     * @param inches Distance in inches
+     * @param inches Distance in ticks
      * @param inPsec Motor Speed
      */
     void    DiGo(int inches,int inPsec);
-    
+
     void    SetLeftPWM(int pwm);
     void    SetRightPWM(int pwm);
-
+    void    SetPWM(int pwm);
+    void    SetPWM(int lPwm, int rPwm);
     int     IsBusy();
-    
+
     /**
      * Stops both motors
      */
     void    Stop();
-    
+
     void    TurnLeft(int deg);
     void    TurnRight(int deg);
     void    PivetLeft(int deg);
     void    PivetRight(int deg);
-    
+
     int     GetCountLeft();
     int     GetCountRight();
     int     GetCount();
     float   GetDistanceLeft();
     float   GetDistanceRight();
     float   GetDistance();
-    
-    
+
+